Position control including first digital motor control to set position and second control to followup



p 1965 P c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet l Diqil' 20 Selecl'or Dlqai' Carol Comparison 4 li Reader Cir-cull circuir 1 Piiol' 12 Lead Screw A Control Clamp Circuil 7 0.0. Gear 1 Gear r Gear AC, Moror Box :Uurch: Box :Clutch: Box Mol'or Tab\e Ciamp 9 Ac lua io r Orcuii' INVE N To s PETEQ (1 5751 FZGSLEY BF! 5/4 qMoR ERA/ER p 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 I55 Sheets-Sheet 2 p 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet 3 51 (c): I 1 q, a I L r i L I J 1 m l j b I Q m 1 r 07 5 (1):L l 5 g (k): Lt i 1 F P (rn)' 1 q,

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POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL To SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet 4 Fig.7

l 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1.960 55 Sheets-Sheet 5 Fig. 8

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Sept. 28, 1965 P. c. PUGSLEY ETAL 3,209,221

EOSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet 6 T0 Comparison Circuik 17 P 1965 I P. c. PUGSLEY ETAL 3, ,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet '7 Sept. 28, 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet 8 p 1965 P. c. PUGSLEY ETAL 3,209,221 I POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 35 Sheets-Sheet 9 2A -n| '91 ?A A5 I\N\ A l L W W I S g N AM 9 w W W 3 av W W I 02$ I W 2 L AvAvA 0--J\N\ 1 A N\ l o\ NV 3. g R R :5 W Z 4 W J W V g Q-g m W I 3 E W W o 0 7-- AC W I: N qr W W I .2

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p 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 55 Sheets-Sheet ll Ar Wa by N? w a.

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POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 55 Sheets-Sheet l2 c0 c0 g'am &

3-3-3-3 S S $1-3- X S S LLXLLXU Sept. 28, 1965 POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 P. C. PUGSLEY ETAL 55 Sheets-Sheet 13 Sept. 28, 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 35 Sheets-Sheet 14 Ag 4 5 23 I N o-IVVV I A IVW w Q MVW N A NW1 Sept. 28, 1965 P. c. PUGSLEY ETAL 3,

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL T0 FOLLOWUP i i-zovv-zov V-zov p 8, 1965 P. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11. 1960 35 Sheets-Sheet 16 PT Q i LN r "1 l W I i 5 I l w R 0 u 'l I 1 m 14 Ll I T l 1 I no i 1 LI p 1965 p. c. PUGSLEY ETAL 3,209,221

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 55 Sheets-Sheet l7 \0 Q- a 5 .9 I LL. 3 O. E 4) O N 8 A N (N- Sept. 28, 1965 P. c. PUGSLEY ETAL 0 1 POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Filed April 11, 1960 35 Sheets-Sheet l8 p 1965 P. c. PUGSLEY ETAL 0 POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL To SET POSITION AND SECOND CQNTROL TO FOLLOWUP Filed April 11. 1960 as SheetsSheet 19 Low #Oufpuf Vollage No! Low F l e 2 as ere True Zero 1 b l Displacement- High p 1965 P. c. PUGSLEY ETAL 3,

POSITION CONTROL INCLUDING FIRST DIGITAL MOTOR CONTROL TO SET POSITION AND SECOND CONTROL TO FOLLOWUP Flled Aprxl 11, 1960 35 Sheets-Sheet 20 

1. A POSITION CONTROL ARRANGEMENT COMPRISING A MOVABLE MEMBER WHICH IS TO BE POSITIONED RELATIVE TO AN ARBITRARY ZERO POSITION, MEANS TO SUPPLY A FIRST GROUP OF ELECTRIC SIGNALS WHICH REPRESENT INPUT DATA IN THE FORM OF A FIRST MULTI-DIGIT NUMBER CHARACTERISTIC OF THE DESIRED POSITION OF SAID MOVABLE MEMBER, MEANS TO SUPPLU A SECOND GROUP OF ELECTRIC SIGNALS WHICH REPRESENT INFORMATION IN THE FORM OF A SECOND MULTI-DIGIT NUMBER CHARACTERISTIC OF THE ACTUAL POSITION OF SAID MOVABLE MEMBER, MEANS RESPONSIVE TO THE FIRST AND SECOND GROUPS OF SIGNALS TO COMPARE SAID FIRST AND SECOND NUMBERS, MEANS TO MOVE SAID MEMBER IN DEPENDENCE UPON THE COMPARISON OF SAID NUMBERS TO REDUCE THE DIFFERENCE BETWEEN SAID NUMBERS TO A PREDETERMINED VALUE DURING A POSITIONING OPERATION, ZERO-CHANGING MEANS TO CHANGE ONE OF SAID GROUPS OF SIGNALS WHEREBY SAID ZERO POSITION MAY BE MOVED PRIOR TO A POSITIONING OPERATION, AND MEANS AUTOMATICALLY TO OPERATE SAID ZERO-CHANGING MEANS DURING A ZERO SETTING OPERATION IN DEPENDENCE UPON THE COMPARISON EFFECTED BY SAID MEANS RESPONSIVE TO THE FIRST AND SECOND GROUPS OF SIGNALS SO THAT, SUBSEQUENT TO SUCH OPERATION OF THE ZERO-CHANGING MEANS, THE ZERO POSITION IS DETERMINED BY THE INPUT DATA AND THE POSITION OF THE MOVABLE MEMBER DURING THE ZERO SETTING OPERATION. 